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Support materials in the sdf2usd converter Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Teo Koon Peng <[email protected]> Co-authored-by: Steve Peters <[email protected]>
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| /* | ||
| * Copyright 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #ifndef SDF_USD_CONVERSIONS_HH_ | ||
| #define SDF_USD_CONVERSIONS_HH_ | ||
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| #include <memory> | ||
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| #include <ignition/common/Material.hh> | ||
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| #include "sdf/Material.hh" | ||
| #include "sdf/sdf_config.h" | ||
| #include "sdf/usd/Export.hh" | ||
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| namespace sdf | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| // | ||
| namespace usd | ||
| { | ||
| /// \brief Specialized conversion from an Ignition Common Material | ||
| /// to a SDF material | ||
| /// \param[in] _in Ignition Common Material. | ||
| /// \return SDF material. | ||
| IGNITION_SDFORMAT_USD_VISIBLE | ||
| sdf::Material convert(const ignition::common::Material *_in); | ||
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| /// \brief Specialized conversion from an SDF material to a Ignition Common | ||
| /// material. | ||
| /// \param[in] _in SDF material. | ||
| /// \param[out] _out The Ignition Common Material. | ||
| IGNITION_SDFORMAT_USD_VISIBLE | ||
| void convert(const sdf::Material &_in, ignition::common::Material &_out); | ||
| } | ||
| } | ||
| } | ||
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| #endif |
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| /* | ||
| * Copyright (C) 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #ifndef SDF_USD_SDF_PARSER_MATERIALS_HH_ | ||
| #define SDF_USD_SDF_PARSER_MATERIALS_HH_ | ||
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| // TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings | ||
| // are reported using #pragma message so normal diagnostic flags cannot remove | ||
| // them. This workaround requires this block to be used whenever usd is | ||
| // included. | ||
| #pragma push_macro ("__DEPRECATED") | ||
| #undef __DEPRECATED | ||
| #include <pxr/usd/sdf/path.h> | ||
| #include <pxr/usd/usd/stage.h> | ||
| #include <pxr/usd/usdShade/material.h> | ||
| #pragma pop_macro ("__DEPRECATED") | ||
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| #include "sdf/Material.hh" | ||
| #include "sdf/usd/Export.hh" | ||
| #include "sdf/usd/UsdError.hh" | ||
| #include "sdf/sdf_config.h" | ||
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| namespace sdf | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| // | ||
| namespace usd | ||
| { | ||
| /// \brief Parse an SDF material into a USD stage. | ||
| /// \param[in] _materialSdf The SDF material to parse. | ||
| /// \param[in] _stage The stage that should contain the USD representation | ||
| /// of _material. | ||
| /// \param[out] _materialPath USD Material path | ||
| /// \return UsdErrors, which is a list of UsdError objects. This list is | ||
| /// empty if no errors occurred when parsing _materialSdf its USD | ||
| /// representation | ||
| UsdErrors IGNITION_SDFORMAT_USD_VISIBLE ParseSdfMaterial( | ||
| const sdf::Material *_materialSdf, | ||
| pxr::UsdStageRefPtr &_stage, | ||
| pxr::SdfPath &_materialPath); | ||
| } | ||
| } | ||
| } | ||
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| #endif |
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| /* | ||
| * Copyright 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include "sdf/usd/Conversions.hh" | ||
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| #include <ignition/common/Pbr.hh> | ||
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| #include "sdf/Pbr.hh" | ||
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| namespace sdf | ||
| { | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| // | ||
| namespace usd | ||
| { | ||
| sdf::Material convert(const ignition::common::Material *_in) | ||
| { | ||
| sdf::Material out; | ||
| out.SetEmissive(_in->Emissive()); | ||
| out.SetDiffuse(_in->Diffuse()); | ||
| out.SetSpecular(_in->Specular()); | ||
| out.SetAmbient(_in->Ambient()); | ||
| out.SetRenderOrder(_in->RenderOrder()); | ||
| out.SetLighting(_in->Lighting()); | ||
| out.SetDoubleSided(_in->TwoSidedEnabled()); | ||
| const ignition::common::Pbr * pbr = _in->PbrMaterial(); | ||
| if (pbr != nullptr) | ||
| { | ||
| out.SetNormalMap(pbr->NormalMap()); | ||
| sdf::Pbr pbrOut; | ||
| sdf::PbrWorkflow pbrWorkflow; | ||
| pbrWorkflow.SetAlbedoMap(pbr->AlbedoMap()); | ||
| pbrWorkflow.SetMetalnessMap(pbr->MetalnessMap()); | ||
| pbrWorkflow.SetEmissiveMap(pbr->EmissiveMap()); | ||
| pbrWorkflow.SetRoughnessMap(pbr->RoughnessMap()); | ||
| pbrWorkflow.SetSpecularMap(pbr->SpecularMap()); | ||
| pbrWorkflow.SetEnvironmentMap(pbr->EnvironmentMap()); | ||
| pbrWorkflow.SetAmbientOcclusionMap(pbr->AmbientOcclusionMap()); | ||
| pbrWorkflow.SetLightMap(pbr->LightMap()); | ||
| pbrWorkflow.SetRoughness(pbr->Roughness()); | ||
| pbrWorkflow.SetGlossiness(pbr->Glossiness()); | ||
| pbrWorkflow.SetMetalness(pbr->Metalness()); | ||
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| if (pbr->NormalMapType() == ignition::common::NormalMapSpace::TANGENT) | ||
| { | ||
| pbrWorkflow.SetNormalMap( | ||
| pbr->NormalMap(), sdf::NormalMapSpace::TANGENT); | ||
| } | ||
| else | ||
| { | ||
| pbrWorkflow.SetNormalMap( | ||
| pbr->NormalMap(), sdf::NormalMapSpace::OBJECT); | ||
| } | ||
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| if (pbr->Type() == ignition::common::PbrType::METAL) | ||
| { | ||
| pbrOut.SetWorkflow(sdf::PbrWorkflowType::METAL, pbrWorkflow); | ||
| } | ||
| else if (pbr->Type() == ignition::common::PbrType::SPECULAR) | ||
| { | ||
| pbrOut.SetWorkflow(sdf::PbrWorkflowType::SPECULAR, pbrWorkflow); | ||
| } | ||
| out.SetPbrMaterial(pbrOut); | ||
| } | ||
| else if (!_in->TextureImage().empty()) | ||
| { | ||
| sdf::Pbr pbrOut; | ||
| sdf::PbrWorkflow pbrWorkflow; | ||
| pbrWorkflow.SetAlbedoMap(_in->TextureImage()); | ||
| pbrOut.SetWorkflow(sdf::PbrWorkflowType::SPECULAR, pbrWorkflow); | ||
| out.SetPbrMaterial(pbrOut); | ||
| } | ||
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| return out; | ||
| } | ||
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| void convert(const sdf::Material &_in, ignition::common::Material &_out) | ||
| { | ||
| _out.SetEmissive(_in.Emissive()); | ||
| _out.SetDiffuse(_in.Diffuse()); | ||
| _out.SetSpecular(_in.Specular()); | ||
| _out.SetAmbient(_in.Ambient()); | ||
| _out.SetRenderOrder(_in.RenderOrder()); | ||
| _out.SetLighting(_in.Lighting()); | ||
| _out.SetAlphaFromTexture(false, 0.5, _in.DoubleSided()); | ||
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| const sdf::Pbr * pbr = _in.PbrMaterial(); | ||
| if (pbr != nullptr) | ||
| { | ||
| ignition::common::Pbr pbrOut; | ||
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| const sdf::PbrWorkflow * pbrWorkflow = | ||
| pbr->Workflow(sdf::PbrWorkflowType::METAL); | ||
| if (pbrWorkflow) | ||
| { | ||
| pbrOut.SetType(ignition::common::PbrType::METAL); | ||
| } | ||
| else | ||
| { | ||
| pbrWorkflow = pbr->Workflow(sdf::PbrWorkflowType::SPECULAR); | ||
| if (pbrWorkflow) | ||
| { | ||
| pbrOut.SetType(ignition::common::PbrType::SPECULAR); | ||
| } | ||
| } | ||
| if (pbrWorkflow != nullptr) | ||
| { | ||
| pbrOut.SetAlbedoMap(pbrWorkflow->AlbedoMap()); | ||
| pbrOut.SetMetalnessMap(pbrWorkflow->MetalnessMap()); | ||
| pbrOut.SetEmissiveMap(pbrWorkflow->EmissiveMap()); | ||
| pbrOut.SetRoughnessMap(pbrWorkflow->RoughnessMap()); | ||
| pbrOut.SetSpecularMap(pbrWorkflow->SpecularMap()); | ||
| pbrOut.SetEnvironmentMap(pbrWorkflow->EnvironmentMap()); | ||
| pbrOut.SetAmbientOcclusionMap(pbrWorkflow->AmbientOcclusionMap()); | ||
| pbrOut.SetLightMap(pbrWorkflow->LightMap()); | ||
| pbrOut.SetRoughness(pbrWorkflow->Roughness()); | ||
| pbrOut.SetGlossiness(pbrWorkflow->Glossiness()); | ||
| pbrOut.SetMetalness(pbrWorkflow->Metalness()); | ||
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| if (pbrWorkflow->NormalMapType() == sdf::NormalMapSpace::TANGENT) | ||
| { | ||
| pbrOut.SetNormalMap( | ||
| pbrWorkflow->NormalMap(), | ||
| ignition::common::NormalMapSpace::TANGENT); | ||
| } | ||
| else if (pbrWorkflow->NormalMapType() == sdf::NormalMapSpace::OBJECT) | ||
| { | ||
| pbrOut.SetNormalMap( | ||
| pbrWorkflow->NormalMap(), | ||
| ignition::common::NormalMapSpace::OBJECT); | ||
| } | ||
| } | ||
| _out.SetPbrMaterial(pbrOut); | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } |
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